The invention discloses a vision-based modular platform relative
pose estimation system, which comprises a
master controller, an upper computer, a controller, a driver, an
encoder and a camera; the front face and the right side face of each
mobile robot are each provided with a camera, and the rear face and the left side face of each
mobile robot are each provided with a double-two-dimensional-code target used for
pose detection. Encoders are arranged on a left wheel and a right wheel of each
mobile robot, each mobile
robot corresponds to one set of upper computer, controller and driver, the controller is connected with the upper computer, the driver is connected with the controller, the camera is connected with the upper computer, and each upper computer is connected with the
master controller. According to the
system, the
estimation capability of the relative
pose between modular
robot platforms is improved, the
system is simple and low in cost, the real-time performance of pose
estimation is good, the accuracy of pose estimation is ensured, the estimation of the relative pose between robots with partial incomplete or inaccurate information is realized, and the problem of target loss caused by
visual detection is solved to a certain extent.